00001 /*************************************************************************** 00002 tag: FMTC Tue Mar 11 21:49:19 CET 2008 oro_system.h 00003 00004 oro_system.h - description 00005 ------------------- 00006 begin : Tue March 11 2008 00007 copyright : (C) 2008 FMTC 00008 email : peter.soetens@fmtc.be 00009 00010 *************************************************************************** 00011 * This library is free software; you can redistribute it and/or * 00012 * modify it under the terms of the GNU General Public * 00013 * License as published by the Free Software Foundation; * 00014 * version 2 of the License. * 00015 * * 00016 * As a special exception, you may use this file as part of a free * 00017 * software library without restriction. Specifically, if other files * 00018 * instantiate templates or use macros or inline functions from this * 00019 * file, or you compile this file and link it with other files to * 00020 * produce an executable, this file does not by itself cause the * 00021 * resulting executable to be covered by the GNU General Public * 00022 * License. This exception does not however invalidate any other * 00023 * reasons why the executable file might be covered by the GNU General * 00024 * Public License. * 00025 * * 00026 * This library is distributed in the hope that it will be useful, * 00027 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00028 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00029 * Lesser General Public License for more details. * 00030 * * 00031 * You should have received a copy of the GNU General Public * 00032 * License along with this library; if not, write to the Free Software * 00033 * Foundation, Inc., 59 Temple Place, * 00034 * Suite 330, Boston, MA 02111-1307 USA * 00035 * * 00036 ***************************************************************************/ 00037 00038 #include <youbot_driver/generic/dataobjectlockfree/os/oro_powerpc/oro_atomic.h> 00039 00040 #ifdef _cplusplus 00041 extern "C" 00042 { 00043 #endif // _cplusplus 00044 #define __HAVE_ARCH_CMPXCHG 1 00045 00046 static __inline__ unsigned long __cmpxchg_u32(volatile unsigned int *p, unsigned long old, unsigned long newp) 00047 { 00048 unsigned int prev; 00049 00050 __asm__ __volatile__ ( 00051 LWSYNC_ON_SMP 00052 "1: lwarx %0,0,%2 # __cmpxchg_u32\n\ 00053 cmpw 0,%0,%3\n\ 00054 bne- 2f\n" 00055 PPC405_ERR77(0,%2) 00056 " stwcx. %4,0,%2\n\ 00057 bne- 1b" 00058 ISYNC_ON_SMP 00059 "\n\ 00060 2:" 00061 : "=&r" (prev), "=m" (*p) 00062 : "r" (p), "r" (old), "r" (newp), "m" (*p) 00063 : "cc", "memory"); 00064 00065 return prev; 00066 } 00067 00068 // KG did explicit cast to remove following error 00069 /* 00070 /kgad/orocos-port-branch/ports/ecos/arch/powerpc/boa5200/orecos-library/install/include/os/oro_powerpc/oro_system.h: 00071 In function `long unsigned int __oro_cmpxchg(volatile void*, long 00072 unsigned int, long unsigned int, unsigned int)': 00073 /kgad/orocos-port-branch/ports/ecos/arch/powerpc/boa5200/orecos-library/install/include/os/oro_powerpc/oro_system.h:52: 00074 error: invalid conversion from `volatile void*' to `volatile 00075 unsigned int*' 00076 /kgad/orocos-port-branch/ports/ecos/arch/powerpc/boa5200/orecos-library/install/include/os/oro_powerpc/oro_system.h:52: 00077 error: initializing argument 1 of `long unsigned int 00078 __cmpxchg_u32(volatile unsigned int*, long unsigned int, long 00079 unsigned int)' */ 00080 00081 static __inline__ unsigned long __oro_cmpxchg(volatile void *ptr, unsigned long old, unsigned long newp, 00082 unsigned int size) 00083 { 00084 switch (size) 00085 { 00086 case 4: 00087 return __cmpxchg_u32((volatile unsigned int *)ptr, old, newp); 00088 } 00089 return old; 00090 } 00091 00092 #define oro_cmpxchg(ptr,o,n) \ 00093 ({ \ 00094 __typeof__(*(ptr)) _o_ = (o); \ 00095 __typeof__(*(ptr)) _n_ = (n); \ 00096 (__typeof__(*(ptr))) __oro_cmpxchg((ptr), (unsigned long)_o_, \ 00097 (unsigned long)_n_, sizeof(*(ptr))); \ 00098 }) 00099 00100 #ifdef _cplusplus 00101 } // end extern "C" 00102 #endif // _cplusplus